00001 /* 00002 * Copyright 2015 Aldebaran 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 #ifndef MEMORY_LIST_CONVERTER_HPP 00019 #define MEMORY_LIST_CONVERTER_HPP 00020 00021 /* 00022 * LOCAL includes 00023 */ 00024 #include "converter_base.hpp" 00025 #include <naoqi_driver/message_actions.h> 00026 00027 /* 00028 * ROS includes 00029 */ 00030 #include <naoqi_bridge_msgs/MemoryList.h> 00031 00032 namespace naoqi { 00033 00034 namespace converter { 00035 00036 class MemoryListConverter : public BaseConverter<MemoryListConverter> 00037 { 00038 typedef boost::function<void(naoqi_bridge_msgs::MemoryList&) > Callback_t; 00039 00040 public: 00041 MemoryListConverter(const std::vector<std::string>& key_list, const std::string& name, const float& frequency, const qi::SessionPtr& session); 00042 00043 virtual void reset(); 00044 00045 void registerCallback( const message_actions::MessageAction action, Callback_t cb ); 00046 00047 virtual void callAll(const std::vector<message_actions::MessageAction>& actions ); 00048 00049 private: 00050 std::vector<std::string> _key_list; 00051 naoqi_bridge_msgs::MemoryList _msg; 00052 qi::AnyObject p_memory_; 00053 std::vector<std::string> data_names_list_; 00054 00056 std::map<message_actions::MessageAction, Callback_t> callbacks_; 00057 }; 00058 00059 } 00060 00061 } 00062 00063 #endif // MEMORY_LIST_CONVERTER_HPP